We restrict our attention to the case $0 < p < 1$, since the answer is well-known for $p \geq 1$. Using the Riemann-Stieltjes integral, we can rewrite the partial sum as
$$ \sum_{k=1}^{n} \frac{\cos (\pi k^{p})}{k^{p}} = \int_{1^{-}}^{n} \frac{\cos \pi x^{p}}{x^{p}} d [x] = \int_{1^{-}}^{n^{p}} \frac{\cos \pi x}{x} d [x^{1/p}]. \tag{1} $$
Using the periodic Bernoulli polynomials $B_{m}(x)$, we have
$$ \sum_{k=1}^{n} \frac{\cos (\pi k^{p})}{k^{p}} = - \int_{1^{-}}^{n^{p}} \frac{\cos \pi x}{x} d B_{1}(x^{1/p}) + \int_{1}^{n^{p}} \frac{\cos \pi x}{x} \, d(x^{1/p}) =: I_{n} + J_{n}. $$
Step 1. Note first that
$$ J_{n} = \frac{1}{p} \int_{1}^{n^{p}} \frac{\cos \pi x}{x^{2-(1/p)}} \, dx. $$
This converges as $n \to \infty$ if and only if $2-(1/p) > 0$, or equivalently, $p > 1/2$. Indeed,
- For $1/2 < p < 1$, the convergence follows by usual integration-by-parts trick.
- For $0 < p \leq 1/2$, let
$$ a_{k} = \lceil (2\pi k - (\pi/4))^{1/p} \rceil \quad \text{and} \quad b_{k} = \lfloor (2\pi k + (\pi/4))^{1/p} \rfloor. $$
Then we observe that $a_{k}^{p} - (2\pi k - (\pi/4)) \to 0$ and $b_{k}^{p} - (2\pi k + (\pi/4)) \to 0$. Thus for large $k$,
$$ J_{b_{k}} - J_{a_{k}} = \frac{1}{p} \int_{a_{k}^{p}}^{b_{k}^{p}} \frac{\cos \pi x}{x^{2-(1/p)}} \, dx \gtrsim \int_{-\pi/4}^{\pi/4} (x+2\pi k)^{(1/p)-2} \, dx \gtrsim 1,$$
which cannot happen if $J_{n}$ converges. (That is, $J_{n}$ is not Cauchy and hence not convergent.)
Step 2. Now we look into the term $I_{n}$. Integration by parts shows that
$$ I_{n} = - \left[ \frac{\cos \pi x}{x} B_{1}(x) \right]_{1^{-}}^{n^{p}} - \int_{1}^{n^{p}} \left( \frac{\pi \sin \pi x}{x} + \frac{\cos \pi x}{x^{2}} \right) B_{1}(x^{1/p}) \, dx. $$
Here, the only term whose convergence is unclear is
$$ \int_{1}^{n^{p}} \frac{\pi \sin \pi x}{x} B_{1}(x^{1/p}) \, dx = p \pi \int_{1}^{n} \frac{\sin (\pi x^{p})}{x} B_{1}(x) \, dx. $$
Introducing the function
$$ C(x) = -\int_{x}^{\infty} \frac{B_{1}(t)}{t} \, dt = \mathcal{O}\left( \frac{1}{x} \right), $$
it follows that
$$ p \pi \int_{1}^{n} \frac{\sin (\pi x^{p})}{x} B_{1}(x) \, dx = p \pi \left[ \sin (\pi x^{p}) C(x) \right]_{1}^{n} - p^{2}\pi^{2} \int_{1}^{n} x^{p-1} \cos(\pi x^{p}) C(x) \, dx, $$
which converges absolutely as $n \to \infty$. Putting together, $I_{n}$ converges for any $0 < p < 1$ and therefore the sum (1) converges if and only if $p > 1/2$.
Remark. We have the same answer if cosine is replaced by sine.
Remaining questions.
- Asymptote for the infinite sum as $p \downarrow 1/2$.
- Same question for the sum
$$ \sum_{k=1}^{\infty} \frac{\cos (a k^{p})}{k^{q}}, $$
where $p$ and $q$ are now allowed to have different values.